Wall climbing robot navigational positioning system based on sound localization , INS

• Main Authors: CHEN LEI, XUE KAIJIA, CHEN HANXIN, WANG CONGQING
• Format: Patent
• Language: English
• Published: 18.11.2015
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The utility model discloses a wall climbing robot navigational positioning system based on sound localization, INS, the system includes INS, INS processing unit, loading bass sound generating mechanism and high audio frequency sound generating mechanism, audio signal conditioning module, microphone sound source receiving array and the central processing module on wall climbing robot, and central processing module includes data collection card and kalman filtering module. The utility model discloses receive multichannel sound source information and INS processing unit's navigation information, calculate through kalman filtering, revise INS processing module's parameter, obtain ultimate combination navigation information data, can perfect wall climbing robot perceiving module, for providing accurate gesture angle, adsorption affinity distribution and attitude control module provide the accurate coordinate of wall climbing robot world coordinate system simultaneously, effectively solve navigational positioning error that sound source navigation easily received acquisition frequency's etc. Influence and INS along with the continuous problem of increase of time continuity.